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General structure of a control loop

Notes

in quite a few cases, the feedback from the actuators won't be used. It is there as it is low overhead and reduces the amount of modelling needed to represent all posibilities -- otherwise, we would need to have two cases per type of ActuatorController (with or without feedback)

one could argue that in very common cases, there are multiple Actuators components that are shared by one particular ActuatorController, think trajectory following of an arm in which each joint has its own Actuators component. Given how the supervision system works, this ControlLoop would apply there as well (see below for a detailed discussion)